A Study of Anti-swing Fuzzy LQR Control of a Double Serial Link Rotary Pendulum

Abstract

In this work, a Fuzzy Linear Quadratic Regulator (FLQR) is developed for the anti-swing control problem of a Double Serial Link Rotary Pendulum (DSLRP) system. The main objective of this paper is to study the anti-swing FLQR controller and compare it with the classical LQR controller. A dynamic mechanical model of the DLRP was simulated numerically in the SimMechanics toolbox/MATLAB. This model can be defined mathematically as the single input and multiple output non-linear dynamic equations. To verify the performance of both anti-swing controllers, different time-domain control specifications are computed. Moreover, to show the controllers performance, simulation and experiments results are given and compared. According to the comparative results, the FLQR anti-swing controller produces better results than classical LQR in term of time-domain control specifications. Moreover, the controllers’ dynamic responses were compared according to robustness analysis in the presence of external force disturbance. The results obtained here indicate that the FLQR anti-swing controller product better performance than others in term of vibration suppression capability.

KEYWORDS:

• Anti-swing control
• double serial link rotary pendulum
• fuzzy logic control
• fuzzy LQR
• linear quadratic regulator

Additional information

Funding

This work has been sponsored by Kocaeli Üniversitesi [grant number BAP/2018/071].

Notes on contributors

Zied Ben Hazem

Zied Ben Hazem received the bachelor's degree in mechanical engineering, ME, from the Higher Institute of Technological Studies, Rades, Tunisia, in 2011, and he received the master degree in Automatic control, robotics and information processing, from the National School of Engineering of Carthage, Carthage University, Tunisia in 2013. He is currently a PhD candidate in mechatronics engineering, in the School of Engineering, Kocaeli University, Kocaeli, Turkey. His research interest is in the control of a triple link rotary inverted pendulum. Email: [email protected]

Mohammad Javad Fotuhi

Mohammad Javad Fotuhi received the BSc degree in computer hardware engineering, from Meybod Azad University, Yazd, Iran in 2007 and the MSc in mechatronics engineering from Sistan and Baluchestan University, Zahedan, Iran in 2011. He is currently a PhD candidate in mechatronics engineering at Kocaeli University, Kocaeli, Turkey. His research interests include control, robotics, fuzzy systems. Topic of his thesis: Series Elastic Actuator in Robotics. E-mail: [email protected]

Zafer Bingül

Zafer Bingül received the BA degree from Istanbul Technical University, Istanbul, Turkey, in 1992, and the MS and PhD degrees from Vanderbilt University, Nashville, TN, USA in 1996 and 2000, respectively, all in electrical engineering. From 1999 to 2000, he was a research associate in the Electrical Engineering Department, Tennessee State University, Nashville, USA where he was engaged in research and application of genetic algorithms for multiobjective optimization problems. He is currently a professor of Mechatronics Engineering, School of Engineering, Kocaeli University, Kocaeli, Turkey. His research interests are robotics and welding automation, optimization, evolutionary algorithms and control. Corresponding author. Email: [email protected]